class
SchmittTriggerSchmittTrigger implements a discrete version of a SchmittTrigger See here for further details.
Base classes
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template<class _Input, class _Output>class BipedalLocomotion::System::Advanceable<SchmittTriggerInput, SchmittTriggerOutput>
- Basic class that represents a discrete system.
Public types
- struct Params
- Struct holding switching parameters for the Schmitt Trigger.
Public functions
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auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize the SchmittTrigger block.
- auto initialize(const Params& parameters) -> bool
- Initialize the SchmittTrigger block.
- auto setState(const SchmittTriggerState& state) -> bool
- Set the state of the SchmittTrigger.
- auto getState() const -> const SchmittTriggerState&
- Get the state of the SchmittTrigger.
- auto advance() -> bool override
- Perform one step of the trigger.
- auto isOutputValid() const -> bool override
- Check if the output of the trigger is valid.
- auto getOutput() const -> const SchmittTriggerOutput& override
- Get the internal state of the SchmittTrigger.
- auto setInput(const SchmittTriggerInput& input) -> bool override
- Set the input of the trigger.
Function documentation
bool BipedalLocomotion:: Math:: SchmittTrigger:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) override
Initialize the SchmittTrigger block.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: Math:: SchmittTrigger:: initialize(const Params& parameters)
Initialize the SchmittTrigger block.
Parameters | |
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parameters | parameter required to initialize the block. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: Math:: SchmittTrigger:: setState(const SchmittTriggerState& state)
Set the state of the SchmittTrigger.
Parameters | |
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state | The desired state of the SchmittTrigger. |
Returns | True if the state is successfully set, false otherwise. |
const SchmittTriggerState& BipedalLocomotion:: Math:: SchmittTrigger:: getState() const
Get the state of the SchmittTrigger.
Returns | the internal state of the SchmittTrigger. |
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bool BipedalLocomotion:: Math:: SchmittTrigger:: advance() override
Perform one step of the trigger.
Returns | true in case of success, false otherwise. |
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bool BipedalLocomotion:: Math:: SchmittTrigger:: isOutputValid() const override
Check if the output of the trigger is valid.
Returns | true in case of success, false otherwise. |
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const SchmittTriggerOutput& BipedalLocomotion:: Math:: SchmittTrigger:: getOutput() const override
Get the internal state of the SchmittTrigger.
Returns | a const reference to the state of the trigger. |
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bool BipedalLocomotion:: Math:: SchmittTrigger:: setInput(const SchmittTriggerInput& input) override
Set the input of the trigger.
Parameters | |
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input | the input of the system. It contains the raw value and the current time instant. |
Returns | true in case of success, false otherwise. |